CN108748163A - A kind of polypody micro robot - Google Patents
A kind of polypody micro robot Download PDFInfo
- Publication number
- CN108748163A CN108748163A CN201810794464.2A CN201810794464A CN108748163A CN 108748163 A CN108748163 A CN 108748163A CN 201810794464 A CN201810794464 A CN 201810794464A CN 108748163 A CN108748163 A CN 108748163A
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- China
- Prior art keywords
- left end
- transposition arm
- gear
- right end
- driving
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/063—Safety devices working only upon contact with an outside object
- B25J19/065—Mechanical fuse
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of polypody micro robots, its structure includes anticollision device, collision-prevention device, power supply indicator, mobile foot, connect base, mechanical arm, body, mechanical head, monitor, anticollision device, collision-prevention device is mounted on internal body, it is fixedly connected at the top of organism bottom and connect base, mobile foot is arranged in order according to interval angles are identical in connect base bottom, it uses and is mechanically connected inside mechanical arm right end and body left end, it is fixedly connected at the top of mechanical head bottom and body, monitor is housed, power supply indicator side is embedded in inside body front end inside mechanical head front end；The device can stop when polypody micro robot walks and crashes into periphery object into row buffering and alarm, control can also be adjusted to the distance of anticollision according to actual conditions in the device simultaneously, can improve the safety that polypody micro robot uses in this way.
Description
Technical field
The present invention relates to robot processing technology field, specifically a kind of polypody micro robot.
Background technology
With microelectric technique, super micro-processing and it is integrated technology, particularly MEMS (MEMS) technology
Development, the advantages that micro robot comes into being, and small with its, flexibility is good medicine, detection, micro mechanism and
The multiple fields such as rescue show good development prospect still, with the continuous extension of its application field, to microminiature machine
The movement velocity of people and the requirement of resolving power also become higher and higher, this just needs to further investigate its driving principle.
At present polypody micro robot carry out in use, we from remote control be difficult to robot periphery the case where
It is observed, such robot is easy for crashing into the object on periphery, to be damaged to robot, reduces it and uses the longevity
Life.
Invention content
It is a primary object of the present invention to overcome the deficiencies of the prior art and provide a kind of polypody micro robot.
The present invention adopts the following technical scheme that realize：A kind of polypody micro robot, structure include anticollision device, collision-prevention device,
Power supply indicator, mobile foot, connect base, mechanical arm, body, mechanical head, monitor, the anticollision device, collision-prevention device are mounted on body
Inside is fixedly connected at the top of the organism bottom and connect base, the mobile foot according to interval angles it is identical be arranged in order in
It uses and is mechanically connected inside connect base bottom, the mechanical arm right end and body left end, the machinery head bottom and body
Top is fixedly connected, and monitor is housed inside the machinery head front end, the power supply indicator side is embedded in body front end
Portion；The anticollision device, collision-prevention device is by driving device, left protective device, puller system, warning device, linkage, right protective device, anti-
Protect range regulation device composition；Driving device right end bottom side is meshed with protective range regulating device top trailing flank, institute
It states on the left of protective range regulating device bottom end and left protective device right end vertical connection, protective range regulating device bottom end is right
Side is fixedly connected with right protective device left end, and the left protective device bottom end side is connect with puller system left end internal activity,
The puller system right end is connected at the top of warning device, is lived inside the right protective device bottom end side and linkage right end
Dynamic connection, linkage left end bottom and vertical connection at the top of warning device.
As an optimization, the driving device is made of motor, transmission gear, transmission belt, driving cog wheel disc, and the motor is right
End side surface is meshed with transmission gear left end side, before the transmission belt both ends are connected respectively to transmission gear and driving cog wheel disc
End side surface, the transmission gear, which is tried to get to the heart of a matter, holds front side to be meshed with protective range regulating device top trailing flank.
As an optimization, the left protective device is by translation left plate, the first transposition arm, buffer bar, the second transposition arm, adjustable
Locating piece, lifting and driving bar composition, the translation left plate right end inside are handed over the first transposition arm left end vertical connection, described first
Both sides are fixedly connected both sides yoke right end up and down with the second transposition arm left end up and down, and the buffer bar both ends are connected respectively to first
Both sides junction, the second transposition arm right end are determined with adjustable up and down with the second transposition arm left end for both sides above and below transposition arm right end
Position block left end internal vertical connection, the adjustable locating piece right end are connect with protective range regulating device bottom end left vertical,
It is fixedly connected with the second transposition arm left end bottom at the top of the lifting and driving bar, lifting and driving bar bottom end side is filled with pulling force
Set the connection of left end internal activity.
As an optimization, the puller system is made of crane, trapped orbit, locating wheel, fixed pulley, pulling force rope, described
Crane rear end side is connect with trapped orbit internal slide, and the crane right end is fixedly connected with fixed pulley left end, described
Pulling force rope one end is connected to inside fixed pulley right end, and the other end is connected to around locating wheel at the top of warning device.
As an optimization, the warning device is touched by programmable controller, conducting wire, alarm, power supply, the first contact, second
Head composition, the positive pole are wired to programmable controller cathode, and the programmable controller anode is by leading
Line is connected to alarm cathode, and the alarm anode is wired at the top of the second contact right end, first contact
Below the second contact, second contact bottom is wired to power cathode, the second contact left end top
With linkage left end bottom vertical connection.
As an optimization, the linkage is by down-pressed pole, rotating turret, upper frame, spring, connecting rod, the second rotating turret, longitudinal direction
Drive link, right track, lifting and driving frame composition, the down-pressed pole top are fixedly connected with rotating turret left end bottom, the spring
One end is connected to upper frame bottom, and the other end is fixed at the top of rotating turret right end, at the top of the connecting rod and rotating turret right end bottom
Be fitted and connected, the connecting rod bottom and vertical connection at the top of the second rotating turret left end, at the top of the second rotating turret right end with
Longitudinal drive link bottom is fixedly connected, longitudinal direction drive link top and lifting and driving frame left end bottom vertical connection, the liter
Drop gear frame rear end side is connect with right track internal slide.
As an optimization, the right protective device is by translation locating piece, left transposition arm, intermediate buffering bar, right protective plate, right friendship
Yoke, right lifting and driving frame composition, the right transposition arm right end are connect with right protective plate left end internal vertical, the right transposition arm
Both sides are fixedly connected both sides left end up and down with left transposition arm right end up and down, and intermediate buffering bar both ends are connected respectively to right intersection
Arm left end both sides and left transposition arm right end both sides junction up and down up and down, the left transposition arm left end in translation locating piece right end
Portion's vertical connection, the right lifting and driving top of the trellis are fixedly connected with right transposition arm left end bottom, on the left of the translation locating piece
It is connect with protective range regulating device bottom end Right vertical.
As an optimization, the protective range regulating device is by positioning transmission bar, tooth connection wheel disc, comprehensive transmission belt, upper tooth
Item, second gear, pull strap, first gear, lower rack composition, positioning transmission bar bottom end trailing flank and tooth connection wheel disc top
End front side is meshed, and tooth connection wheel disc front end side face passes through comprehensive transmission belt and second gear, first gear front end side
It being sequentially connected, the pull strap both ends are connected respectively to second gear and first gear front end side, the second gear,
First gear top side is meshed with upper rack bottom side, and the second gear, first gear bottom side are meshed with lower rack top side.
Advantageous effect
A kind of polypody micro robot of the present invention is carrying out in use, we need to generate driving torque by motor
Band nutating gear rotates, and transmission gear pulls driving cog wheel disc to rotate by transmission belt, to drive positioning transmission bar to rotate,
Positioning transmission bar can drive tooth connection wheel disc to rotate, and tooth connection wheel disc pulls second gear and the first tooth by comprehensive transmission belt
Wheel rotation, second gear and first gear can adjust the position of upper rack, lower rack, this makes it possible to left protective device with
The protection distance of right protective device is adjusted, and to improve the convenience used, when robot left end touches object, puts down
It moves left plate to turn right extrudings, the first transposition arm, buffer bar, the second transposition arm carry out contraction buffering, while when the contraction of the second transposition arm
Drive lifting and driving bar to move down with crane, fixed pulley by pulling force rope by the first contact toward pulling up, the first contact and the
Two contacts to together, alarm by alarm circuit connection, when robot right end touches object, left transposition arm, in
Between buffer bar, right transposition arm carry out contraction buffering, while when left transposition arm is shunk, drives right lifting and driving frame to press down, to band
Dynamic longitudinal direction drive link presses down the second rotating turret right end with lifting and driving frame, and the second rotating turret left end will be rotated by connecting rod
Frame right end jacks up, and rotating turret left end pressed down the second contact by down-pressed pole, the first contact and the second contact to together,
Alarm circuit connection is alarmed, and driving device can provide power for protective range regulating device, and protective range adjusts dress
The protection distance of left protective device and right protective device can be adjusted by setting, and left protective device passes through when colliding object
Puller system drives warning device to alarm, and right protective device drives warning device when colliding object by linkage
It alarms.
Compared with prior art, the beneficial effects of the invention are as follows：The device can walk in polypody micro robot and rush
Stop into row buffering and alarm when bumping against periphery object, at the same the device can also according to actual conditions to the distance of anticollision into
Row adjusting control can improve the safety that polypody micro robot uses in this way.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is a kind of structural schematic diagram of polypody micro robot of the present invention.
Fig. 2 is the structural schematic diagram of anticollision device, collision-prevention device of the present invention.
Fig. 3 is the structural schematic diagram of anticollision device, collision-prevention device of the present invention refinement.
Fig. 4 is the structural schematic diagram of anticollision device, collision-prevention device working condition of the present invention.
In figure：Anticollision device, collision-prevention device 1, power supply indicator 2, mobile foot 3, connect base 4, mechanical arm 5, body 6, mechanical head 7,
Monitor 8, driving device 11, left protective device 12, puller system 13, warning device 14, linkage 15, right protective device
16, protective range regulating device 17, motor 111, transmission gear 112, transmission belt 113, driving cog wheel disc 114, translation left plate
121, the first transposition arm 122, buffer bar 123, the second transposition arm 124, adjustable locating piece 125, lifting and driving bar 126, lifting
Frame 131, trapped orbit 132, locating wheel 133, fixed pulley 134, pulling force rope 135, programmable controller 141, conducting wire 142, alarm
Device 143, the first contact 145, the second contact 146, down-pressed pole 151, rotating turret 152, upper frame 153, spring 154, connects power supply 144
Extension bar 155, the second rotating turret 156, longitudinal drive link 157, right track 158, lifting and driving frame 159, translation locating piece 161, a left side
Transposition arm 162, intermediate buffering bar 163, right protective plate 164, right transposition arm 165, right lifting and driving frame 166, positioning transmission bar
171, tooth connection wheel disc 172, comprehensive transmission belt 173, upper rack 174, second gear 175, pull strap 176, first gear 177,
Lower rack 178.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
- 4 are please referred to Fig.1, the present invention provides a kind of polypody micro robot technical solution：Its structure includes anticollision device, collision-prevention device
1, power supply indicator 2, mobile foot 3, connect base 4, mechanical arm 5, body 6, mechanical head 7, monitor 8, the anticollision device, collision-prevention device 1
Inside body 6,6 bottom of the body is fixedly connected with 4 top of connect base, and the mobile foot 3 is according to interval angles
Identical be arranged in order uses mechanical connection inside 4 bottom of connect base, 5 right end of the mechanical arm and 6 left end of body, described
7 bottom of mechanical head is fixedly connected with 6 top of body, and the machinery head is equipped with monitor 8, the power supply indicator 2 inside 7 front end
Side is embedded in inside 6 front end of body；The anticollision device, collision-prevention device 1 is by driving device 11, left protective device 12, puller system 13, report
Alarm device 14, linkage 15, right protective device 16, protective range regulating device 17 form；11 right end bottom of the driving device
Side is meshed with 17 top trailing flank of protective range regulating device, 17 bottom end of the protective range regulating device left side and left protection
12 right end vertical connection of device, 17 bottom end of the protective range regulating device right side are fixedly connected with 16 left end of right protective device,
12 bottom end side of the left protective device is connect with 13 left end internal activity of puller system, and 13 right end of the puller system is connected to
14 top of warning device, 16 bottom end side of the right protective device are connect with 15 right end internal activity of linkage, the linkage
15 left end bottom of device and 14 top vertical connection of warning device, the driving device 11 is by motor 111, transmission gear 112, biography
Dynamic band 113, driving cog wheel disc 114 form, and 111 right end side of the motor is meshed with 112 left end side of transmission gear, described
113 both ends of transmission belt are connected respectively to transmission gear 112 and 114 front end side of driving cog wheel disc, 114 bottom of driving cog wheel disc
End front side is meshed with 17 top trailing flank of protective range regulating device, and the left protective device 12 is by translation left plate 121, first
Transposition arm 122, buffer bar 123, the second transposition arm 124, adjustable locating piece 125, lifting and driving bar 126 form, the translation
Inside left plate 121 right end with 122 left end vertical connection of the first transposition arm, 122 right end of the first transposition arm both sides and the up and down
Two transposition arms, 124 left end is fixedly connected both sides up and down, and 123 both ends of the buffer bar are connected respectively to 122 right end of the first transposition arm
Upper and lower both sides and both sides junction above and below 124 left end of the second transposition arm, 124 right end of the second transposition arm and adjustable locating piece
125 left end internal verticals connect, and 125 right end of adjustable locating piece connects with 17 bottom end left vertical of protective range regulating device
It connects, 126 top of the lifting and driving bar is fixedly connected with 124 left end bottom of the second transposition arm, 126 bottom end of lifting and driving bar
Side is connect with 13 left end internal activity of puller system, and the puller system 13 is by crane 131, trapped orbit 132, locating wheel
133, fixed pulley 134, pulling force rope 135 form, and 131 rear end side of the crane is connect with 132 internal slide of trapped orbit, institute
It states 131 right end of crane to be fixedly connected with 134 left end of fixed pulley, 135 one end of the pulling force rope is connected in 134 right end of fixed pulley
Portion, the other end are connected to the top of warning device 14 around locating wheel 133, the warning device 14 by programmable controller 141, lead
Line 142, alarm 143, power supply 144, the first contact 145, the second contact 146 composition, 144 anode of the power supply pass through conducting wire
142 are connected to 141 cathode of programmable controller, and 141 anode of the programmable controller is connected to alarm by conducting wire 142
143 cathode, 143 anode of the alarm are connected to by conducting wire 142 at the top of 146 right end of the second contact, first contact 145
Set on the lower section of the second contact 146,146 bottom of the second contact is connected to 144 cathode of power supply by conducting wire 142, and described second
With 15 left end bottom vertical connection of linkage at the top of 146 left end of contact, the linkage 15 is by down-pressed pole 151, rotating turret
152, upper frame 153, spring 154, connecting rod 155, the second rotating turret 156, longitudinal drive link 157, right track 158, lifting and driving
Frame 159 forms, and 151 top of the down-pressed pole is fixedly connected with 152 left end bottom of rotating turret, and 154 one end of the spring is connected to
153 bottom of upper frame, the other end are fixed at the top of 152 right end of rotating turret, 155 top of the connecting rod and 152 right end bottom of rotating turret
Portion is fitted and connected, 155 bottom of the connecting rod and vertical connection at the top of 156 left end of the second rotating turret, second rotating turret 156
It is fixedly connected with 157 bottom of longitudinal drive link at the top of right end, 157 top of longitudinal direction drive link and 159 left end of lifting and driving frame
Bottom vertical connection, 159 rear end side of the lifting and driving frame are connect with 158 internal slide of right track, the right protective device
16 are passed by translation locating piece 161, left transposition arm 162, intermediate buffering bar 163, right protective plate 164, right transposition arm 165, right lifting
Moving frame 166 forms, and 165 right end of right transposition arm is connect with 164 left end internal vertical of right protective plate, the right transposition arm 165
Both sides are fixedly connected both sides left end up and down with 162 right end of left transposition arm up and down, and 163 both ends of intermediate buffering bar are connected respectively to
165 left end of right transposition arm both sides and 162 right end of left transposition arm both sides junction up and down up and down, 162 left end of left transposition arm with
The connection of 161 right end internal vertical of locating piece is translated, 166 top of the right lifting and driving frame and 165 left end bottom of right transposition arm are solid
Fixed connection, 161 left side of the translation locating piece are connect with 17 bottom end Right vertical of protective range regulating device, the protective range
Regulating device 17 by positioning transmission bar 171, tooth connection wheel disc 172, comprehensive transmission belt 173, upper rack 174, second gear 175,
Pull strap 176, first gear 177, lower rack 178 form, 171 bottom end trailing flank of the positioning transmission bar and tooth connection wheel disc
It is meshed on front side of 172 tops, 172 front end side of the tooth connection wheel disc passes through comprehensive transmission belt 173 and second gear 175, the
One gear, 177 front end side is sequentially connected, and 176 both ends of the pull strap are connected respectively to second gear 175 and the first tooth
177 front end sides are taken turns, the second gear 175,177 top side of first gear are meshed with 174 bottom side of upper rack, second tooth
Wheel 175,177 bottom side of first gear are meshed with lower 178 top side of rack.
It is carrying out in use, we need to generate the driving torque band rotation of nutating gear 112, transmission by motor 111
Gear 112 pulls driving cog wheel disc 114 to rotate by transmission belt 113, to drive positioning transmission bar 171 to rotate, positioning transmission
Bar 171 can drive tooth connection wheel disc 172 to rotate, and tooth connection wheel disc 172 pulls second gear 175 by comprehensive transmission belt 173
It being rotated with first gear 177, second gear 175 can adjust the position of upper rack 174, lower rack 178 with first gear 177,
This makes it possible to which left protective device 12 and the protection distance of right protective device 16 are adjusted, to improve use it is convenient
Property, when robot left end touches object, translation left plate 121 is turned right extruding, the first transposition arm 122, buffer bar 123, second
Transposition arm 124 carries out contraction buffering, while driving lifting and driving bar 126 and crane 131 down when the contraction of the second transposition arm 124
Mobile, by pulling force rope 135 by 145 past pull-up of the first contact, the first contact 145 touches fixed pulley 134 with the second contact 146
Together, 143 circuit of alarm connection is alarmed, when robot right end touches object, left transposition arm 162, intermediate buffering
Bar 163, right transposition arm 165 carry out contraction buffering, while driving right lifting and driving frame 166 to press down when the contraction of left transposition arm 162,
To drive longitudinal drive link 157 to press down 156 right end of the second rotating turret with lifting and driving frame 159, the second rotating turret 156 is left
End is jacked up 152 right end of rotating turret by connecting rod 155, and 152 left end of rotating turret is past by the second contact 146 by down-pressed pole 151
It pushes, the first contact 145 and the second contact 146 touch together, and the connection of 143 circuit of alarm is alarmed, driving device 11
Can be that protective range regulating device 17 provides power, protective range regulating device 17 can be to left protective device 12 and right protection
The protection distance of device 16 is adjusted, and left protective device 12 drives warning device when colliding object by puller system 13
14 alarm, and right protective device 16 drives warning device 14 to alarm when colliding object by linkage 15.
The technological progress that the present invention obtains compared with the prior art is：The device can walk in polypody micro robot and rush
Stop into row buffering and alarm when bumping against periphery object, at the same the device can also according to actual conditions to the distance of anticollision into
Row adjusting control can improve the safety that polypody micro robot uses in this way.
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art,
It still can be with technical scheme described in the above embodiments is modified, or is carried out to which part technical characteristic etc.
With replacing, all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this
Within the protection domain of invention.
Claims (8)
1. a kind of polypody micro robot, structure includes anticollision device, collision-prevention device, power supply indicator, mobile foot, connect base, machinery
Arm, body, mechanical head, monitor, it is characterised in that：
The anticollision device, collision-prevention device is mounted on internal body, is fixedly connected at the top of the organism bottom and connect base, the mobile foot
According to identical be arranged in order of interval angles machinery is used inside connect base bottom, the mechanical arm right end and body left end
Connection, the machinery head bottom and body top are fixedly connected, and monitor are housed inside the machinery head front end, the power supply refers to
Show that lamp side is embedded in inside body front end；
The anticollision device, collision-prevention device by driving device, left protective device, puller system, warning device, linkage, right protective device,
Protective range regulating device forms；
Driving device right end bottom side is meshed with protective range regulating device top trailing flank, and the protective range adjusts dress
With left protective device right end vertical connection on the left of bottom set end, protective range regulating device bottom end right side and right protective device are left
End is fixedly connected, and the left protective device bottom end side is connect with puller system left end internal activity, the puller system right end
It is connected at the top of warning device, the right protective device bottom end side is connect with linkage right end internal activity, the linkage
Device left end bottom and vertical connection at the top of warning device.
2. a kind of polypody micro robot according to claim 1, it is characterised in that：The driving device by motor,
Transmission gear, transmission belt, driving cog wheel disc composition, the motor right end side is meshed with transmission gear left end side, described
Transmission belt both ends are connected respectively to transmission gear and driving cog wheel disc front end side face, and the transmission gear, which is tried to get to the heart of a matter, holds front side and protection
Range regulation device top trailing flank is meshed.
3. a kind of polypody micro robot according to claim 1, it is characterised in that：The left protective device is by translating
Left plate, the first transposition arm, buffer bar, the second transposition arm, adjustable locating piece, lifting and driving bar composition, the translation left plate are right
End is internal with the first transposition arm left end vertical connection, the first transposition arm right end up and down both sides with above and below the second transposition arm left end
Both sides are fixedly connected, and the buffer bar both ends are connected respectively on the first transposition arm right end or more both sides and the second transposition arm left end
Lower both sides junction, the second transposition arm right end are connect with adjustable locating piece left end internal vertical, the adjustable positioning
Block right end is connect with protective range regulating device bottom end left vertical, at the top of the lifting and driving bar and the second transposition arm left end bottom
Portion is fixedly connected, and lifting and driving bar bottom end side is connect with puller system left end internal activity.
4. a kind of polypody micro robot according to claim 1 or 3, it is characterised in that：The puller system is by rising
Frame, trapped orbit, locating wheel, fixed pulley, pulling force rope composition drop, and crane rear end side connects with trapped orbit internal slide
It connects, the crane right end is fixedly connected with fixed pulley left end, and described pulling force rope one end is connected to inside fixed pulley right end, another
End is connected to around locating wheel at the top of warning device.
5. a kind of polypody micro robot according to claim 1, it is characterised in that：The warning device is by may be programmed
Controller, conducting wire, alarm, power supply, the first contact, the second contact composition, the positive pole, which is wired to, to be compiled
Range controller cathode, the programmable controller anode are wired to alarm cathode, and the alarm anode passes through
Conducting wire is connected at the top of the second contact right end, and first contact is set to below the second contact, and second contact bottom passes through
Conducting wire is connected to power cathode, the second contact left end top and linkage left end bottom vertical connection.
6. a kind of polypody micro robot according to claim 1 or 5, it is characterised in that：The linkage is under
Compression bar, rotating turret, upper frame, spring, connecting rod, the second rotating turret, longitudinal drive link, right track, lifting and driving frame composition, it is described
It is fixedly connected with rotating turret left end bottom at the top of down-pressed pole, the spring one end is connected to upper frame bottom, and the other end, which is fixed on, to be turned
It at the top of moving frame right end, is fitted and connected with rotating turret right end bottom at the top of the connecting rod, the connecting rod bottom and the second rotation
Vertical connection at the top of frame left end, the second rotating turret right end top are fixedly connected with longitudinal drive link bottom, longitudinal biography
Connect with right track internal slide with lifting and driving frame left end bottom vertical connection, lifting and driving frame rear end side at the top of lever
It connects.
7. a kind of polypody micro robot according to claim 1, it is characterised in that：The right protective device is by translating
Locating piece, left transposition arm, intermediate buffering bar, right protective plate, right transposition arm, right lifting and driving frame composition, the right transposition arm are right
End is connect with right protective plate left end internal vertical, and both sides are solid up and down with left transposition arm right end for both sides up and down for the right transposition arm left end
Fixed connection, intermediate buffering bar both ends are connected respectively to right transposition arm left end both sides and both sides above and below left transposition arm right end up and down
Junction, the left transposition arm left end are connect with translation locating piece right end internal vertical, the right lifting and driving top of the trellis and the right side
Transposition arm left end bottom is fixedly connected, and is connect with protective range regulating device bottom end Right vertical on the left of the translation locating piece.
8. a kind of polypody micro robot according to claims 1 or 2 or 3 or 7, it is characterised in that：The protection model
Enclose regulating device by positioning transmission bar, tooth connection wheel disc, comprehensive transmission belt, upper rack, second gear, pull strap, first gear,
Lower rack composition, positioning transmission bar bottom end trailing flank and tooth connection wheel disc top front side are meshed, the tooth connection wheel disc
Front end side is sequentially connected by comprehensive transmission belt with second gear, first gear front end side, the pull strap both ends
It is connected respectively to second gear and first gear front end side, the second gear, first gear top side and upper rack bottom side phase
Engagement, the second gear, first gear bottom side are meshed with lower rack top side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810794464.2A CN108748163A (en) | 2018-07-19 | 2018-07-19 | A kind of polypody micro robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810794464.2A CN108748163A (en) | 2018-07-19 | 2018-07-19 | A kind of polypody micro robot |
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| Publication Number | Publication Date |
|---|---|
| CN108748163A true CN108748163A (en) | 2018-11-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810794464.2A Withdrawn CN108748163A (en) | 2018-07-19 | 2018-07-19 | A kind of polypody micro robot |
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| CN (1) | CN108748163A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696043A (en) * | 2019-10-18 | 2020-01-17 | 徐州木牛流马机器人科技有限公司 | Robot arm with anticollision function |
| CN116423502A (en) * | 2023-03-21 | 2023-07-14 | 南京信捷泽荣智控技术有限公司 | Robot control system based on motion type PLC |
-
2018
- 2018-07-19 CN CN201810794464.2A patent/CN108748163A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696043A (en) * | 2019-10-18 | 2020-01-17 | 徐州木牛流马机器人科技有限公司 | Robot arm with anticollision function |
| CN116423502A (en) * | 2023-03-21 | 2023-07-14 | 南京信捷泽荣智控技术有限公司 | Robot control system based on motion type PLC |
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